Unmanned vehicle, system and methods for collision avoidance between unmanned vehicle

ABSTRACT

Some embodiments are directed to an unmanned vehicle for use with a companion unmanned vehicle. The unmanned vehicle can include a satellite navigation unit that is configured to receive a satellite signal indicative of a current position of the unmanned vehicle. The unmanned vehicle can also include an inertial navigation unit that is configured to determine the current position of the unmanned vehicle. The unmanned vehicle can also include a control unit disposed in communication with the satellite navigation unit and the inertial navigation unit. The control unit is configured to determine a planned position of the unmanned vehicle based on the planned path, compare the current position determined by the inertial navigation unit with the planned position based on the planned path, and control the movement of the unmanned vehicle based on at least the comparison between the current position and the planned position.

PRIORITY INFORMATION

This Application claims priority to provisional Application 62/291,344filed on Feb. 4, 2016. The substance of Application 62/291,344 is herebyincorporated in its entirety into this Application.

BACKGROUND

The disclosed subject matter relates to unmanned vehicles or optionallymanned vehicles, systems and methods for controlling unmanned vehiclesor optionally manned vehicles. More particularly, the disclosed subjectmatter relates to systems and methods for avoiding collision amongunmanned vehicles or optionally manned vehicles, and systems and methodsfor avoiding collision between unmanned vehicles or optionally mannedvehicles, and obstacles.

An unmanned vehicle is a vehicle without a person on board, which iscapable of sensing their surroundings and navigating on their own. Theunmanned vehicle can operate in, but not restricted to, air, water,land, and so forth. The unmanned vehicle can either be autonomous orremotely operated by an operator.

Optionally manned vehicles can be operated with or without a person onboard. Optionally manned vehicles may enable manual testing of thevehicles before unmanned operation or allow manual control, ifnecessary, during an unmanned mode of operation.

Generally, the unmanned vehicles are vulnerable to collision with eachother and/or with obstacles present in their paths. Unmanned vehiclesmay also unexpectedly veer off course due to the presence of obstaclesor unpredictable environmental conditions. Further, fleets of two ormore unmanned vehicles facing sudden changes in their environment aremore likely to suffer from such collisions as each unmanned vehicle inthe fleet is subject to similar environmental changes.

SUMMARY

Unmanned vehicles are in jeopardy of colliding with each other (vehicleto vehicle collisions) and/or with obstacles present in theiroperational environments. The obstacles can be, for example, buildings,antennas, terrain features, and the like. An unmanned terrestrial,aquatic or space vehicle may also suffer collisions with differentobstacles, such as with trees, rocks, bodies of water, sand banks,coral, orbital debris, and so forth. One of the reasons for suchcollisions is lack of geographical information of the given obstacles.Further, unmanned vehicles can also veer off course due to unexpectedenvironmental conditions, such as changes in wind patterns, rain, snow,avalanches etc.

Further, in case of a fleet of unmanned vehicles, the possibility ofvehicle to vehicle collision can increase exponentially since eachunmanned vehicle is subject to similar environmental changes.Possibility of collisions between the unmanned vehicles and obstaclesalso similarly increase.

Some related arts have tried to mitigate collisions among unmannedvehicle by relaying a planned path of a first unmanned vehicle to asecond unmanned vehicle. However, the first unmanned vehicle or thesecond unmanned vehicle may deviate from the planned path due tounexpected environmental conditions. Therefore, any collision avoidancestrategy based solely on planned path data may be inaccurate and canlead to collisions between the first and second unmanned vehicle.

Some related arts have tried to incorporate satellite navigation data(e.g., GPS data) of the first vehicle's location into informationavailable to the second vehicle to accurately integrate the firstvehicle's planned path with its current location. However, the GPS datamay not be always available or may be partially inaccurate. For example,the first and second unmanned vehicles can be travelling in a regionwhere GPS data is unavailable or intermittently available.

Optionally manned vehicles can face similar problems as described abovewith reference to unmanned vehicles. Specifically, optionally mannedvehicles can suffer from collisions with each other or with obstaclesduring an unmanned mode of operation.

It may therefore be beneficial to provide an unmanned vehicle, a system,and a method of use, that address at least one of the above issues. Forexample, it may be beneficial to provide the unmanned vehicle with aninertial navigation unit as a backup that can help in navigating theunmanned vehicle in case of loss of satellite signal.

It may therefore be beneficial to provide an unmanned vehicle, a system,and a method of use, that address at least one of the above and/or otherdisadvantages. In, particular, it may be beneficial to provide theunmanned vehicle, a system and a method that combine a planned path ofthe unmanned vehicle and position data from an inertial navigation unitin order to navigate the unmanned vehicle during loss of satellitesignal.

It may therefore be beneficial to provide an unmanned vehicle, a system,and method of use, that address at least one of the above and/or otherdisadvantages. In particular, it may be beneficial to provide anunmanned vehicle, a system, and a method to combine position data of acompanion unmanned vehicle with position data from an inertialnavigation unit in order to navigate the unmanned vehicle during loss ofsatellite signal.

Some embodiments are therefore directed to a method of controlling anunmanned vehicle having a satellite navigation unit and an inertialnavigation unit. The unmanned vehicle is operatively coupled to acontroller. The method can include controlling, by the controller, amovement of the unmanned vehicle such that the unmanned vehicle movesalong a planned path; detecting, by the controller, a loss of asatellite signal at the satellite navigation unit; determining, by thecontroller, a planned position of the unmanned vehicle based on theplanned path; determining, by the inertial navigation unit, a currentposition of the unmanned vehicle; comparing, by the controller, thecurrent position determined by the inertial navigation unit with theplanned position based on the planned path; and controlling, by thecontroller, a movement of the unmanned vehicle based on at least thecomparison between the current position and the planned position.

Some other embodiments are directed to an unmanned vehicle. The unmannedvehicle can include a satellite navigation unit that is configured toreceive a satellite signal indicative of a current position of theunmanned vehicle. The unmanned vehicle can also include an inertialnavigation unit that is configured to determine the current position ofthe unmanned vehicle relative to an initial position. The unmannedvehicle can also include a memory unit that is configured to store aplanned path of the unmanned vehicle. Further, the unmanned vehicle canalso include a control unit disposed in communication with the satellitenavigation unit, the inertial navigation unit and the memory unit. Thecontrol unit is configured to detect a loss of satellite signal at thesatellite navigation unit; receive the current position of the unmannedvehicle from the inertial navigation unit; determine a planned positionof the unmanned vehicle based on the planned path; compare the currentposition determined by the inertial navigation unit with the plannedposition based on the planned path; and control the movement of theunmanned vehicle based on at least the comparison between the currentposition and the planned position.

Yet other embodiments are directed to a system including unmannedvehicles, wherein each of the unmanned vehicles can include a satellitenavigation unit that is configured to receive a satellite signalindicative of a current position of the unmanned vehicle. The systemincluding the unmanned vehicles, wherein each of the unmanned vehiclescan also include an inertial navigation unit that is configured todetermine the current position of the unmanned vehicle relative to aninitial position. The system including the unmanned vehicles, whereineach of the unmanned vehicles can also include a memory unit that isconfigured to store a planned path of the unmanned vehicle. The systemincluding the unmanned vehicles, wherein each of the unmanned vehiclescan also include a communication unit disposed in communication withother unmanned vehicles, the communication unit being configured toreceive a current position of each of the other unmanned vehicles.Further, the system including the unmanned vehicles, wherein each of theunmanned vehicles can also include a control unit disposed incommunication with the satellite navigation unit, the inertialnavigation unit, the memory unit and the communication unit. The controlunit is configured to detect a loss of satellite signal at the satellitenavigation unit; receive the current position of the unmanned vehiclefrom the inertial navigation unit; determine a planned position of theunmanned vehicle based on the planned path; receive the current positionof each of the other unmanned vehicles; and control the movement of theunmanned vehicle based on at least the current position determined bythe inertial navigation unit, the planned position based on the plannedpath, and the current position of each of the other unmanned vehicles.

As mentioned above, many current related art technologies fail tocompute or transmit various aspects of information such as position,planned trajectory, electronic data, etc. in calculating their plannedpaths (or trajectories). This can become important in situations wherecommunication with a ground or base station is encumbered or absent,although vehicles still need to re-calculate their prospectivetrajectories and possibly relay the new trajectories (e.g., ad-hoc) toother vehicles.

Some of the disclosed embodiments address this problem by employing acombination of calculated planned path trajectories, GPS information,ranging tone calculations, and importantly, the aforementioned inertialnavigation technologies. The inertial navigation units can recordchanges in acceleration, velocity, altitude, etc. relative to a baselinecommunication loss starting position to calculate where a particularvehicle is in relation to the starting position. Moreover, thisinformation could be transmitted directly to other neighboring vehiclessuch that each can collaborate re-calculated planned paths based solelyon inertial navigation data.

BRIEF DESCRIPTION OF THE DRAWINGS

The disclosed subject matter of the present application will now bedescribed in more detail with reference to exemplary embodiments of theapparatus and method, given by way of example, and with reference to theaccompanying drawings, in which:

FIG. 1 is an exemplary system of unmanned vehicles in accordance withthe disclosed subject matter.

FIG. 2 illustrates components of the unmanned vehicle in accordance withthe disclosed subject matter.

FIG. 3 is a flowchart of an exemplary procedure for controlling movementof unmanned vehicles according to disclosed subject matter.

FIG. 4 is a flowchart of an exemplary procedure for controlling movementof unmanned vehicle according to disclosed subject matter.

FIG. 5A is a schematic of unmanned vehicles travelling along plannedpaths in accordance with disclosed subject matter.

FIG. 5B is a schematic of one or more unmanned vehicles navigating withan inertial navigation unit in accordance with disclosed subject matter.

FIG. 6 is a computer system that can be used to implement variousexemplary embodiments of the disclosed subject matter.

DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS

A few inventive aspects of the disclosed embodiments are explained indetail below with reference to the various figures. Exemplaryembodiments are described to illustrate the disclosed subject matter,not to limit its scope, which is defined by the claims. Those ofordinary skill in the art will recognize a number of equivalentvariations of the various features provided in the description thatfollows.

I. System of Unmanned Vehicles

FIG. 1 is an exemplary system 100 of unmanned vehicles in accordancewith the disclosed subject matter.

FIG. 1 illustrates the system 100 that includes unmanned vehicles 102 ato 102 n, hereinafter referred to as an unmanned vehicle 102. Theunmanned vehicle 102, and embodiments are intended to include orotherwise cover any type of unmanned vehicle, including an unmannedaerial vehicle, an unmanned terrestrial vehicle, a drone, a gyrocopter,an unmanned oceanic vehicle, etc. In fact, embodiments are intended toinclude or otherwise cover any type of unmanned aerial vehicle that maystay geostationary in the sky and also fly at a considerable height nearand/or above an object to be inspected. The unmanned aerial vehicle 102is merely provided for exemplary purposes, and the various inventiveaspects are intended to be applied to any type of unmanned vehicle. Inalternative embodiments, the system 100 can include one or moreoptionally manned vehicles.

In some embodiments, the unmanned vehicle 102 can be manually controlledby an operator present at a base station 108. In some other embodiments,the unmanned vehicle 102 may be autonomously controlled based on apredetermined control strategy. In yet other embodiments, the unmannedvehicle 102 may be semi-autonomously controlled, which involves anoperator entering and/or selecting one or more attributes and subsequentautonomous control of the unmanned vehicles 102 based on the enteredand/or selected parameters. In fact, embodiments are intended to includeor otherwise cover any type of techniques, including known, related art,and/or later developed technologies to control the unmanned vehicle 102.

For operating purposes, the unmanned vehicle 102 and its components (notshown) can be powered by a power source to provide propulsion. The powersource can be, but not restricted to, a battery, a fuel cell, aphotovoltaic cell, a combustion engine, fossil fuel, solar energy, andso forth. In fact, embodiments are intended to include or otherwisecover any type of power source to provide power to the unmanned vehicle102 for its operations.

In some embodiments, the unmanned vehicle 102 can have, but notrestricted to, rotors, propellers, and flight control surfaces thatcontrol movements and/or orientation of the unmanned vehicle 102, andthe like. In fact, embodiments are intended to include or otherwisecover any other component that may be used to control movements and/ororientation of the unmanned vehicle 102.

Further, in some embodiments, the unmanned vehicle 102 can also include,but not restricted to, a processor (not shown), a memory (not shown),and the like. In some embodiments, the processor can be any suitableprocessing device configured to run and/or execute software that iseither stored on the unmanned vehicle 102 or transmitted to the unmannedvehicle 102. The processor can be configured to generate a planned pathand/or re-plan an existing planned path in response to receiving asignal from an external communication device or another unmannedvehicle. In alternate embodiments, the processor can be, but notrestricted to, a general purpose processor, a Field Programmable GateArray (FPGA), an Application Specific Integrated Circuit (ASIC), aDigital Signal Processor (DSP), and/or the like. In fact, embodiments ofthe disclosed subject matter are intended to include or otherwise coverany type of processor, including known, related art, and/or laterdeveloped technologies to enhance capabilities of processing data and/orinstructions. The memory can be used to store instructions that can beprocessed by the processor. Embodiments are intended to include orotherwise cover any type of memory, including known, related art, and/orlater developed technologies to enhance capabilities of storing dataand/or instructions.

In some embodiments, the system 100 including the unmanned vehicle 102 ato 102 n may be a fleet of unmanned vehicles that may execute anoperation. The operation may involve transfer of payload from a positionto another position, flights between two positions, tracking a target,surveillance and so forth. Each of the unmanned vehicle 102 in thesystem may be a companion unmanned vehicle of the other unmannedvehicles 102.

In the exemplary system, each unmanned vehicle 102 has a planned pathbetween positions, to optimize various parameters such as, but notrestricted to, travel time, power requirements and so forth. Forexample, the unmanned vehicle 102 can be configured to travel fromposition “A” to position “B”. The planned path for the unmanned vehicle102 may be an optimal path between positions “A” and “B” in terms oftravel time, power requirements, collision avoidance, jurisdictionalrequirements, stealth requirements, wind patterns etc. In alternateembodiments, the planned path can be segmented, such as a first plannedpath from position “A” to site 1(not shown), a second planned path fromsite 1 to site 2 (not shown), and a third planned path form site 2 backto point “A” (not shown). Moreover, if the mission is executed asplanned, then the unmanned vehicle 102 travels along each of the plannedpaths in sequence. However, in case of unexpected events, the unmannedvehicle 102 goes off course due to various scenarios. In one exemplaryscenario, the unmanned vehicle 102 may determine the planned positionand the current position of the unmanned vehicle 102, and the differencebetween the planned position and the current position. The differencebetween planned position and the current position is compared with athreshold value, which is based on various parameters such as, but notrestricted to, position, distance, angular orientation, and the like.Further, based on the comparison between the threshold value and thecalculated difference, the unmanned vehicle 102 determines if it has tomodify the planned path or generate a new planned path in order toimpede or avoid collisions and achieve the target. However, calculatinga new planned path expends computational resources and time, and in caseof a fleet, such as the system 100 illustrated in FIG. 1, if theunmanned vehicle 102 a re-calculates a new planned path, one or more ofthe companion unmanned vehicle 102 b to 102 n may also have to calculatea new planned path. Thus, it may beneficial for each of the unmannedvehicles 102 to follow its original planned path and, if necessary, makeminor corrections in case the unmanned vehicle 102 goes off course fromthe planned path instead of recalculation of a new planned path.

In some embodiments, a base station 108 is configured to generateplanned path for the unmanned vehicle 102 based on one or moreparameters such as, but are not restricted to, a starting position, adestination, mission requirements (surveillance, tracking etc.), no-flyzones, fuel availability, and so forth. Further, the planned path istransmitted to each of the unmanned vehicles 102. In furtherembodiments, the unmanned vehicle 102 can be configured to generate anew planned path when the unmanned vehicle 102 is required to divergefrom its current planned path. The planned path can include a series ofpositions, speeds, altitudes, headings or orientations and so forth.Further each position may be linked to a corresponding speed, altitude,and orientation.

In alternate embodiments, the base station 108 transmits data requiredto generate the planned path for each of the unmanned vehicles 102 andeach of the unmanned vehicles 102 generates their own planned pathsbased on the data provided by the base station 108. Further, theunmanned vehicle 102 a can transmit the planned path associated with itto the other unmanned vehicle 102 b to 102 n, in order to enable theother unmanned vehicles 102 b to 102 n to consider the planned path whengenerating their respective planned paths so as to enhance cooperation,and avoid or impede close encounters or collisions. Close encounter caninclude situations when a distance between two unmanned vehicles 102 areless than a safe distance.

In some embodiments, the unmanned vehicle 102 may generate a new plannedpath or modify its current planned path in case of various events orsituations. For example, there may be a possibility of one or moreunmanned vehicles 102 veering off course due to unforeseen circumstancessuch as, but are not restricted to, unpredictable wind patterns, rain,or other environmental factors. The unmanned vehicles 102 may also veeroff course due to an obstacle 104. In such situations, the vehicle maygenerate a new planned path or modify the original planned path so as tomore effectively accomplish the mission requirements and/or enhancecooperation between the other unmanned vehicles 102 b to 102 n. Inalternate embodiments, the unmanned vehicle 102 may re-calculate itsplanned path if there is a change in mission requirements or if certainmission objectives have been accomplished or are unnecessary.

The unmanned vehicle 102 a can predict whether a close encounter or apotential collision based on the knowledge of its own planned path andplanned path of the companion unmanned vehicles 102 b to 102 n in thesystem 100. In some embodiments, the unmanned vehicle 102 a compares itsplanned path with the planned paths of the companion unmanned vehicles102 b to 102 n in order to determine the possibility of a closeencounter or a collision. If the unmanned vehicle 102 does not detect apotential close encounter or a collision, it will continue to travelalong its planned path. In some other embodiments, if the unmannedvehicle 102 a detects a close encounter or collision, a correctiveaction can be taken which is not disruptive to the missions of theunmanned vehicle 102 a. Further, only the unmanned vehicles 102 a mayneed to adjust its planned path while and the companion unmannedvehicles 102 b to 102 n may continue on their respective planned paths.

In some embodiments, the unmanned vehicle 102 may make adjustments suchas, but not restricted to, a temporary speed adjustment, a temporaryaltitude adjustment and a horizontal profile adjustment to return to theoriginal planned path after veering off course. Additionally, in orderto optimize cooperation between the unmanned vehicles 102, the plannedpath data includes sufficient data for a recipient of the planned pathdata to determine the expected future position of all the unmannedvehicles 102 that transmitted the planned path data. In an embodiment,the data, which enables the determination of the expected futureposition of any one of the unmanned vehicle 102, can include, but notrestricted to, an absolute time at the start of the planned path, aflight time specified by the path, data to determine a speed profile ofthe path, data to determine an altitude profile of the path, and data todetermine the horizontal profile of the path.

Further, in some embodiments, the unmanned vehicle 102 detects potentialcollision of the unmanned vehicle 102 with the obstacle 104. Theobstacle 104 can include, but not restricted to, buildings, antennas,terrain features, and so forth. In some other embodiments, the obstacle104 can be, but not restricted to, trees, rocks, bodies of water, sandbanks, coral or even orbital debris. In yet other embodiments, theobstacle 104 can be a mobile obstacle, such as an aircraft, aterrestrial vehicle, an aquatic vehicle, a bird, and so forth. In fact,embodiments of the disclosed subject matter are intended to include orotherwise cover any type of obstacle that can lie in the operationalpaths of the unmanned vehicle 102.

Moreover, the unmanned vehicle 102 may use the position data to generatethe planned path. The unmanned vehicle 102 may then send the positiondata, through a communication network 106, to the base station 108. Insome embodiments, position data may include, but not restricted to,latitude, longitude, and altitude. In alternate embodiments, theunmanned vehicle 102 can use, but not restricted to, a navigationdevice, such as a satellite navigation unit, an inertial navigationunit, or other location sensing devices.

Each of the unmanned vehicle 102 may be further configured tocommunicate with the companion unmanned vehicles 102. In someembodiments, the unmanned vehicle 102 may communicate with othercompanion unmanned vehicles 102 through, but not restricted to, acommunication network such as the communication network 106 of thesystem 100.

In some embodiments, the communication network 106 may include a datanetwork such as, but not restricted to, the Internet, Local Area Network(LAN), Wide Area Network (WAN), Metropolitan Area Network (MAN), etc. Incertain embodiments, the communication network 106 can include awireless network, such as, but not restricted to, a cellular network andmay employ various technologies including Enhanced Data rates for GlobalEvolution (EDGE), General Packet Radio Service (GPRS), Global System forMobile Communications (GSM), Internet protocol Multimedia Subsystem(IMS), Universal Mobile Telecommunications System (UMTS) etc. In otherembodiments, the communication network 106 may include or otherwisecover networks or subnetworks, each of which may include, for example, awired or wireless data pathway. The communication network 106 mayfurther include a circuit-switched voice network, a packet-switched datanetwork, or any other network capable for carrying electroniccommunications. For example, the network may include networks based onthe Internet protocol (IP) or Asynchronous Transfer Mode (ATM), and maysupport voice usage, for example, VoIP, Voice-over-ATM, or othercomparable protocols used for voice data communications. In oneimplementation, the network 106 includes a cellular telephone networkconfigured to enable exchange of text or SMS messages.

Examples of the communication network 106 may include, but are notlimited to, Ad Hoc P2P, a Personal Area Network (PAN), a Storage AreaNetwork (SAN), a Home Area Network (HAN), a Campus Area Network (CAN), aVirtual Private Network (VPN), an Enterprise Private Network (EPN),Internet, a Global Area Network (GAN), and so forth. Embodiments areintended to include or otherwise cover any type of communicationnetwork, including known, related art, and/or later developedtechnologies to communicate with other unmanned vehicles 102 or the basestation 108.

The base station 108 can be a fixed base station or a mobile basestation. In some other embodiments, the mobile base station may include,but not restricted to, an unmanned aerial vehicle, an unmannedterrestrial vehicle, and the like. It may also be contemplated that thebase station 108 may be, but not restricted to, an electronic device,such as a smartphone, a laptop, a remote control device, and the like.In fact, embodiments are intended to include or otherwise cover any typeof base station, including known, related art, and/or later developedtechnologies to communicate with other unmanned vehicles 102.

The functioning of the unmanned vehicle 102 is described in more detailbelow in conjunction with FIG. 2.

II. Functioning of the Unmanned Vehicle

FIG. 2 illustrates components of one or more of the unmanned vehicles102, in accordance with the disclosed subject matter.

In some embodiments, the unmanned vehicle 102 can include, a detectionunit 202, a memory unit 204, a position unit 206, a communication unit208 and, a control unit 210. In fact, embodiments of the disclosedsubject matter are intended to include or otherwise cover any number ofcomponents in the unmanned vehicle 102 including known, related art,and/or later developed technologies to control the movement of theunmanned vehicle 102 in a planned way.

In some other embodiments, the unmanned vehicle 102 can have acontroller 212 which includes, but is not restricted, a detection unit202, a memory unit 204, a position unit 206, a communication unit 208and, a control unit 210. The controller 212 is configured to control themovement of the unmanned vehicle 102 along the planned path. In fact,embodiments of the disclosed subject matter are intended to include orotherwise cover any number of components in the controller 212,including known, related art, and/or later developed technologies tocontrol the movement of unmanned vehicles 102 along the planned paths.In some other embodiments, the base station 108 can include a controller(not shown), used to receive and transmit planned path data to theunmanned vehicles 102.

In some embodiments, the detection unit 202 can be configured to detectthe obstacle 104 present in operational of path of the unmanned vehicle102 and a potential collision of the unmanned vehicle 102 with theobstacle 104. The obstacle 104 can be, but not restricted to, building,antenna, terrain features, and so forth. The detection unit 202 may useone or more sensing devices, which may include, but not restricted to, acamera, a location based sensor, an electromagnetic spectrum sensor,gamma ray sensors, biological sensors, chemical sensors, thermal sensor,and the like. In fact, embodiments of the disclosed subject matter areintended to include or otherwise cover any type of sensing device in thedetection unit 202 including known, related art, and/or later developedtechnologies to detect the obstacle 104 present in the operational pathof the unmanned vehicle 102. Yet, in some other embodiments, thedetection unit 202 can be configured to detect and/or determine thestructural parameters of the obstacle 104. The structural parameters ofthe obstacle 104 can be, but are not restricted to, height, width,length and so forth. The unmanned vehicle 102 can avoid the obstacle 104based on the detected structural parameters. Further, the unmannedvehicle 102 can communicate the structural parameters of the obstacle104 with the companion unmanned vehicles 102, such that the companionunmanned vehicles 102 may also employ evasive maneuvers, if required, toavoid the obstacle 104.

In some embodiments, the detection unit 202 can be configured to detectanother unmanned vehicle or fleets which are not a part of the network.Such unknown unmanned vehicles can essentially be considered anenvironmental hazard. Therefore, each of the unmanned vehicle 102 of thesystem 100 can act accordingly to divert its course while maintainingthe same planned path strategies within a given fleet to avoidinter-fleet collision.

In some other embodiments, the detection unit 202 can be configured todetect potential collision of the unmanned vehicle 102 a or anoptionally manned vehicle with the companion unmanned vehicles 102 b to102 n or optionally manned vehicle. In addition, the detection unit 202may use digital maps such as, but not restricted to, Digital TerrainElevation Data (DTED) to impede or avoid unexpected events. The digitalmaps may be populated using information from satellite and/or usinginformation gathered from online and/or offline sources.

Further, the memory unit 204 includes data used to impede or avoidcollisions among unmanned vehicles 102 or optionally manned vehicles,and to avoid collisions between the unmanned vehicles 102 or optionallymanned vehicles and obstacles 104. In some embodiments, the memory canstore relative position of the companion unmanned vehicle 102 and theinformation provided by the detection unit 202. In certain embodiment,the memory unit 204 can be configured to store the planned path of theunmanned vehicle 102.

In some other embodiments, the memory unit 204 may store informationused to generate a planned path for the unmanned vehicle 102 and/or dataused to determine whether the unmanned vehicle 102 needs to re-calculatea new planned path. In fact, embodiments of disclosed subject matter areintended to include or otherwise cover any type of data that is requiredfor the operation of the unmanned vehicle 102.

In addition, the memory unit 204 may be, but not restricted to, a RandomAccess Memory (RAM) unit and/or a non-volatile memory unit such as aRead Only Memory (ROM), optical disc drive, magnetic disc drive, flashmemory, Electrically Erasable Read Only Memory (EEPROM), and so forth.Moreover, the memory unit 204 may include instructions to enable thecontroller to control the movement of the unmanned vehicle 102. In fact,embodiments of the disclosed subject matter are intended to include orotherwise cover any type of memory device including known, related art,and/or later developed technologies to store the information required toperform the above discussed operations.

In some embodiments, the position unit 206 can be configured todetermine position data of the unmanned vehicles 102. The position datamay include, but not restricted to, latitude, longitude, and altitude ofthe unmanned vehicles 102. In alternate embodiments, the position datamay include any other data that is required to determine the position ofthe unmanned vehicle 102 and/or obstacle 104 present in the operationalpath of the unmanned vehicles 102. The position unit 206 can include,but not restricted to, a satellite navigation unit 206 a such as aGlobal Positioning System (GPS), United States Geological Survey (USGS)terrain data, and an inertial navigation unit 206 b. In fact,embodiments of the disclosed subject matter are intended or otherwiseinclude any type of navigation devices to determine location of theunmanned vehicles 102 and/or the obstacle 104 present in the operationalpath of the unmanned vehicles 102. In various embodiments, the positionunit 206 may employ various methods to determine the positions of thecompanion unmanned vehicles 102 and the obstacle 104 relative itself.Such methods can include, but not restricted to, ranging tones,telemetry data, terrain data, optical imaging, and so forth.

In some embodiments, the satellite navigation unit 206 a is configuredto receive a satellite signal that is indicative of the current positionof the unmanned vehicle 102. The satellite navigation unit 206 a mayprovide autonomous geo-spatial positioning with global coverage. In someembodiments, the satellite navigation unit 206 a allows the unmannedvehicle 102 to determine its location (longitude, latitude andaltitude/elevation). In various embodiments, the satellite navigationunit 206 a may include a receiver for receiving satellite signals.

In some other embodiments, the inertial navigation unit 206 b isconfigured to determine the current position of the unmanned vehicle 102relative to a reference or an initial position. The inertial navigationunit 206 b may enable navigation of the unmanned vehicle 102 based onchanges in an inertia of the unmanned vehicle 102. Moreover, theinertial navigation unit 206 b can include, but not restricted to,various components such as, accelerometers, gyroscope and so forth.

The gyroscope can be used to determine an absolute angular reference.The inertial navigation unit 206 b can include one or more gyroscopes,such as, but not restricted to, a laser gyroscope, a vibratinggyroscope, a hemispherical resonator gyroscope, a fiber optic gyroscope,and the like. The inertial navigation unit 206 b can also include one ormore accelerometers to measure acceleration of the unmanned vehicle 102about one or more axes defined with respect to the unmanned vehicle 102.

The inertial navigation unit 206 b can have angular and linearaccelerometers to determine change in position. Further, angularaccelerometers can be configured to determine the rotation of theunmanned vehicle 102 about multiple axes. In some embodiments, theinertial navigation unit 206 b can include at least one sensor for eachof the three axes. The axes may include an X-axis, a Y-axis and aZ-axis. Therefore, the inertial navigation unit 206 b can measure yawangle and/or velocity, pitch angle and/or velocity, and roll angleand/or velocity of the unmanned vehicle 102. Moreover, linearaccelerometers can be configured to measure non-gravitationalacceleration of the unmanned vehicle 102.

In an example, the inertial navigation unit 206 b may calculateacceleration in the x-direction, followed by acceleration in the y-zdirection after a certain duration indicating the unmanned vehicle 102has executed a turn of a particular radius. The inertial navigation unit206 b can record all of these changes in inertia to determine thedisplacement between the current position and the initial position.Specifically, the inertial navigation unit 206 b can navigate theunmanned vehicle 102 based on the above disclosed changes inacceleration in different planes.

In a further example, a laser gyroscope of the inertial navigation unit206 b may determine the changes in acceleration. In some embodiments,the changes in acceleration are due to, but not restricted to aircurrent that tend to perturb the aerial vehicle 102 rotationally. Suchperturbations can cause changes in a pitch, a roll and a yaw of theunmanned vehicle 102.

In some embodiments, the inertial navigation unit 206 b continuouslymonitors the location, orientation and velocity (direction and speed ofmovement) of the unmanned vehicle 102. In alternative embodiments, theinertial navigation unit 206 b may periodically monitor the movement ofthe unmanned vehicle 102. In yet other embodiments, the inertialnavigation unit 206 b may intermittently monitor various parameters ofthe unmanned vehicle 102 based on requirements.

Further, the position unit 206 can combine the data from the satellitenavigation unit 206 a and/or the inertial navigation unit 206 b withpressure data and information of the companion unmanned vehicles 102 tomake accurate predictions about the trajectory of each of the unmannedvehicles 102 of the system 100. The pressure data can be measure by adevice such as, but not restricted to, an altimeter.

In some embodiments, the position unit 206 may integrate a Kalman filterwith the inertial navigation unit 206 b to minimize drift errors andaccurately estimate the current position of the unmanned vehicle 102.The Kalman filter is a set of mathematical equations that provides anefficient computation method to estimate the state of a process (forexample, navigation data), in a way that minimizes a mean of a squarederror. The Kalman filter may be implemented by any combination ofhardware and software. In fact, embodiments of disclosed subject matterare intended to include or otherwise cover any type method to accuratelyestimate the current position of the unmanned vehicle 102.

In yet some other embodiments, the position unit 206 can use ad-hocpeer-to-peer communication (point-to-point communication), to directlysend or receive any information to or from the companion unmannedvehicles 102, rather than communicating information through anintermediary such as, but not restricted to, a base station, anotherunmanned vehicle, and the like. The information that can be sent orreceived via peer-to-peer communication network can be, but notrestricted to the planned path data, telemetry data, and the like.

In some other embodiments, the communication unit 208 can be configuredto transmit and/or receive data required to impede collisions amongunmanned vehicles 102, and/or to avoid or impede collisions between theunmanned vehicles 102 and obstacles. In an embodiment, the communicationunit 208 can include a transmitter for transmitting signals, and areceiver for receiving signals. In an alternative embodiment, thecommunication unit 208 can include a transceiver for both transmittingand receiving signals. In some other embodiments, the communication unit208 can transmit and/or receive the data required to generate plannedpath through the communication network 106. The communication unit 208can use communication methods that can include radio communicationsbased on any frequency spectrum (e.g., Very High Frequency (VHF) orUltra-High Frequency (UHF)) and any supporting infrastructure (e.g.,satellites, cell phone towers, etc.). In fact, embodiments of thedisclosed subject matter are intended to include or otherwise cover anytype of techniques, including known, related art, and/or later developedtechnologies to transmit the information required to control themovement of the unmanned vehicle 102 along the planned path.

In alternate embodiments, the communication unit 208 can transmit and/orreceive planned path information to and/or from the companion unmannedvehicles 102.

In an embodiment, the control unit 210 can be disposed in communicationwith the satellite navigation unit 206 a, the inertial navigation unit206 b, and the memory unit 204. In an exemplary embodiment, the controlunit 210 or the controller 212 combines the planned path data, satellitenavigation data from the satellite navigation unit 206 a and inertialnavigation data from the inertial navigation unit 206 b. The combineddata is communicated to each of the unmanned vehicles 102 through thecommunication network 106. The communication network 106 can alsoreceive similar combined data from the companion unmanned vehicles 102of the system 100. Further, the control unit 210 uses the combined datato estimate the current position of each of the companion unmannedvehicles 102.

Further, the control unit 210 or the controller 212 can be configured tocontrol the movement of the unmanned vehicle based on at least thecomparison between the current position and a planned position. Theplanned position may be an expected position of the unmanned vehicle 102based on the planned path. In an example, the control unit 210 maydetermine a time elapsed from the start of travel along the plannedpath, and determine the planned position based on the planned positiondata and the elapsed time.

The control unit 210 or the controller 212 can regulate the movement ofthe unmanned vehicle 102 by controlling various components of theunmanned vehicle 102 such as, but not restricted to, rotors, propellers,and flight control surfaces. In fact, embodiments of the disclosedsubject matter are intended to include or otherwise cover any componentthat can control the movements and/or orientation of the unmannedvehicle 102.

In some embodiments, the controller 212 or the control unit 210 can beconfigured to generate a planned path of the unmanned vehicle 102 byusing data received from the base station 108. The planned path data mayinclude, but not restricted to, a speed profile of the path, an altitudeprofile of the path and a horizontal profile of the path. In some otherembodiments, the controller 212 or the control unit 210 can beconfigured to control movement of the unmanned vehicle 102, such thatthe unmanned vehicle 102 moves along the planned path.

In some embodiment, the controller 212 or the control unit 210 isconfigured to receive the current position of the unmanned vehicle 102from the position unit 206. In further embodiments, the communicationunit 208 receive the current position of the companion unmanned vehicles102 of the system 100. In certain embodiments, the controller 212 or thecontrol unit 210 can be configured to estimate a potential collisionbetween the unmanned vehicle 102 and the companion unmanned vehicles 102based on the current position of each of the unmanned vehicles 102 ofthe system 100.

In some embodiments, the control unit 210 or the controller 212 can beconfigured to control the movement of the unmanned vehicle 102 in orderimpede or avoid the potential collision between the unmanned vehicle 102and the companion unmanned vehicles 102. In some other embodiments, thecontrol unit 210 or the controller 212 can be configured to control theelevation and velocity of the unmanned vehicle 102 to impede or avoidcollisions due to sudden changes in the trajectory of the unmannedvehicle 102.

In some embodiments, the controller 212 or the control unit 210 maycontinually monitor the location of the unmanned vehicle 102 using thesatellite navigation unit 206 a. Further, the controller 212 or thecontrol unit 210 may detect a loss of satellite signal at the satellitenavigation unit 206 a. The loss of satellite signal may occur due tovarious factors including turbulent weather conditions, solar flares,the presence of a foreign object blocking the signal, hardware orsoftware faults etc. Hardware or software faults may includemalfunctioning of the satellite navigation unit 206 a. In an exemplaryembodiment, loss of signal may occur when the unmanned vehicle 102 is ata location that is not receptive to satellite transmissions. Moreover,loss of satellite signal may include drop of a strength of the satellitesignal below a predetermined strength. Further, if the satellite signalhas been lost, the controller 212 or the control unit 210 is configuredto receive the current position of unmanned vehicle 102 from theinertial navigation unit 206 b.

In yet another embodiment, the controller 212 or the control unit 210can be configured to determine the planned position of the unmannedvehicle 102 based on the planned path so as to determine a deviation ofthe unmanned vehicle 102 from the planned path. In some otherembodiments, the controller 212 or the control unit 210 can beconfigured to compare the current position determined by the inertialnavigation unit 206 b with the planned position based on the plannedpath during loss of satellite signal.

In some embodiments, the controller 212 or the control unit 210 can beconfigured to estimate a potential collision between the unmannedvehicle 102 and the companion unmanned vehicles 102 of the system 100based on the current position derived from the inertial navigation unit206 b of the unmanned vehicle 102, the planned position of the unmannedvehicle 102 based on the planned path, and current positions of thecompanion unmanned vehicles 102.

In alternate embodiments, the controller 212 or the control unit 210 canbe configured to estimate a potential collision between the unmannedvehicle 102 and the companion unmanned vehicles 102 of the system 100based on the current position derived from the satellite navigation unit206 a of the unmanned vehicle 102, the planned position of the unmannedvehicle 102 based on the planned path, and current positions of thecompanion unmanned vehicles 102.

In some embodiments, the controller 212 or the control unit 210 of theunmanned vehicle 102 performs various operations such as, but are notlimited to, movement of the unmanned vehicle 102, controlling andcoordinating operations of various components of the unmanned vehicle102, detecting loss of satellite signal and processing information fromthe base station 108. However, in some other embodiments, the controller(not shown) of the base station 108 performs one or more of the aboveoperations. Yet in some other embodiments, the controller 212 of any oneof the companion unmanned vehicles 102 performs one or more of the aboveoperations. In fact, embodiments of the disclosed subject matter areintendent to include or otherwise cover any controller including known,related art, and/or later developed technologies that is operationallycoupled to the unmanned vehicle 102 to perform one or more of the aboveoperations.

Operation of the Unmanned Vehicle

FIG. 3 is a flowchart of a procedure 300 for controlling the unmannedvehicle 102 in accordance with the disclosed subject matter. In someembodiments, the unmanned vehicle 102 can be an unmanned aerial vehicle.This flowchart is merely provided for exemplary purposes, andembodiments are intended to include or otherwise cover any methods orprocedures to control the unmanned vehicle 102 along a planned path.

In accordance with the procedure 300 illustrated in FIG. 3, at step 302,the controller 212 controls the movement of the unmanned vehicle 102along the planned path. The planned path can include various parameterssuch as, but not restricted to, a speed profile of the path, an altitudeprofile of the path and a horizontal profile of the path. In someembodiments, the controller 212 regulates various components of theunmanned vehicle 102 such as rotors, propellers, and flight controlsurfaces that control the movement and/or orientation of the unmannedvehicle 102. In some other embodiments, the controller 212 present inthe unmanned vehicle 102 may control pitch, roll, yaw and various speedcontrol parameters. In an alternate embodiment, the controller may be apart of the base station 108 and transmits control instructions throughthe communication network 106 to the unmanned vehicle 102. The plannedpath of the unmanned vehicle 102 may be generated in order to completeone or more mission objectives efficiently. Moreover, the planned pathof the unmanned vehicle 102 is based on various parameters such as, butare not restricted to, preset operating conditions, planned path ofcompanion vehicles, fuel consumption, time of flight, distance, weatherand the like. Preset operating conditions include, but not limited to,restricted geographical locations, height limits and like.

In some embodiments, the controller 212 of the unmanned vehicle 102generates the planned path for the unmanned vehicle 102. In alternateembodiments, the base station 108 generates the planned path andtransmits the planned path to the unmanned vehicle 102 through thecommunication network 106. In addition, the planned path of each of theunmanned vehicle 102 is communicated to the companion unmanned vehicles102. In some embodiments, the planned path data is combined with thesatellite navigation data for improved accuracy. Therefore, thecontroller 212 controls the movement of the unmanned vehicle 102 along aplanned path based a satellite navigation unit 206 a.

At step 304, the controller 212 determines a loss of satellite signal atthe satellite navigation unit 206 a. As discussed above, the controller212 controls the movement of the unmanned vehicle 102 along the plannedpath with the help of the satellite position as detected by thesatellite navigation unit 206 a. However, in some cases, the satellitesignal may not be available or may be inaccurate. For example, in casethe unmanned vehicle 102 travels through a tunnel, a crowded urbanenvironment, a mountainous region, a forested area, or any other coveredregion where the satellite reception is poor, the satellite navigationunit 206 a may not receive any signal, or receive a weak or intermittentsignal. Inability of the controller 212 to determine the currentposition of the unmanned vehicle 102 based on the satellite signal andcross-checking the current position with the planned path may lead todeviation of the unmanned vehicle 102 from its planned path. Suchdeviation may increase the probability of the collisions among theunmanned vehicles 102 and/or collisions between the unmanned vehicle 102and the obstacle 104.

At step 306, the controller 212 determines the planned position of theunmanned vehicle 102 based on the planned path. In some embodiments, incase the satellite signal is lost at the satellite navigation unit 206a, the controller 212 may determine the planned position of the unmannedvehicle 102 based on planned path data stored in the memory unit 204. Insome embodiments, the planned path can include a series of positions,speeds, altitudes, orientation and the like. Further each position maybe linked to a corresponding speed, altitude and orientation. Therefore,the controller 212 can determine planned position of the unmannedvehicle 102 based on above disclosed parameters.

At step 308, a current position of the unmanned vehicle 102 isdetermined by the inertial navigation unit 206 b. In some embodiments,the change in vehicle's inertia is determined to estimate the currentposition of the unmanned vehicle 102. The inertial navigation datacontains the current position of the unmanned vehicle relative to aninitial position. In some embodiments, the initial position may be theposition of the unmanned vehicle 102 at which the satellite signal islost. The initial position may be stored in the memory unit 204. In someother embodiments, the controller 212 determines a current trajectory ofthe unmanned vehicle 102 based on the current position determined by theinertial navigation unit 206 b. The current trajectory may be calculatedbased on a current position, a current heading, and current speed of theunmanned vehicle 102. Further, the current trajectory may also includefuture positions of the unmanned vehicle 102.

Further, at step 310, the controller 212 compares the current positionwith the planned position. The controller 212 determines a differencebetween the planned position based on planned path and the currentposition determined by the inertial navigation unit 206 b. In someembodiment, the controller 212 may compare one or more parameters of thecurrent position with equivalent parameters of the planned position. Forexample, the controller 212 may compare the current horizontal location,the current altitude and the current heading with the planned horizontallocation, the planned altitude and the planned heading, respectively, ofthe unmanned vehicle 102. After computing the differences between theindividual parameters, the controller 212 may ignore differences thatare less than corresponding tolerance values. The tolerance values maybe based on allowable instrument errors and are of magnitudes that aretoo low to interfere with the navigation of the unmanned vehicle 102.

Next, at step 310, the controller 212 controls the movement of theunmanned vehicle 102 based on the comparison between the currentposition and the planned position of the unmanned vehicle 102. Thecontroller 212 may be further configured to at least reduce a differencebetween the current trajectory of the unmanned vehicle 102 and theplanned path. In some other embodiments, if the unmanned vehicle 102 ismassively off course and/or it is difficult to reduce the differencebetween the current trajectory of the unmanned vehicle 102 and theplanned path, the controller 212 may calculate a new planned pathdistinct from the original planned path.

Further, the current position of each of the companion unmanned vehicles102 b to 102 n may be transmitted to the unmanned vehicle 102 a. In someembodiments, the controller 212, at the unmanned vehicle 102 a,determines one or more potential collisions between the unmanned vehicle102 a and the companion unmanned vehicles 102 b to 102 n. Subsequently,the controller 212 of the unmanned vehicle 102 a controls the movementof the unmanned vehicle 102 to impede or avoid the potential collisions.

FIG. 4 is a flowchart of a procedure 400 for controlling the unmannedvehicle 102 in accordance with the disclosed subject matter. Thisflowchart is merely provided for exemplary purposes, and embodiments areintended to include or otherwise cover any methods or procedures tocontrol the unmanned vehicle 102 along a planned path.

In accordance with the flowchart of FIG. 4, at step 402, the controller212 moves the unmanned vehicle 102 along a planned path with the help ofsatellite navigation and stored planned path data. In some embodiments,the planned path is based on one or more parameters such as, but notrestricted to, a starting position, a destination, mission requirements,no fly zones, fuel availability and so forth. In some embodiments, thecontroller 212 may generate the planned path for the unmanned vehicle102. In some other embodiments, the controller of the base station 108may generate the planned path for the unmanned vehicle 102 and transmitit to the unmanned vehicle 102 and/or the companion unmanned vehicles102. In addition, controller 212 may combine the planned path of theunmanned vehicle 102 with satellite navigation for accurate navigation.

At step 404, the controller 212 detects a loss of satellite signal atthe satellite navigation unit 206 a. In case the controller 212 detectsa loss of the satellite signal, the procedure 400 executes step 406 to412. In case the controller 212 detects that the satellite navigationunit 206 a is receiving satellite signal, then the procedure 400proceeds to step 414.

In case of loss of satellite signal, the controller 212, at step 406,determines the planned position of the unmanned vehicle 102 based on theplanned path. The controller 212 may also store the position at whichthe satellite signal is lost in the memory unit 204. As discussed, theplanned path data may include, but not restricted to, a series ofpositions, speeds, altitudes, orientation and the like. In addition,each position in a planned path may be linked to a corresponding speed,altitude and orientation. So, in case of loss of satellite signal, thecontroller 212 can determine the planned position of the unmannedvehicle 102 based on the planned path data. In some embodiments, thememory unit 204 may store the planned path data of the unmanned vehicle102 and the companion unmanned vehicles 102. In alternate embodiments,the base station 108 stores the planned path data of the unmannedvehicle 102 and the companion unmanned vehicles 102, and transmits theplanned path data to the unmanned vehicle 102 through the communicationnetwork 106.

Further, at the step 408, the controller 212 determines the currentposition of the unmanned vehicle 102 by the inertial navigation unit 206b. The inertial navigation unit 206 b is configured to determine thecurrent position of the unmanned vehicle 102 based on changes to theinertia of the unmanned vehicle 102. Further, the inertial navigationunit 206 b can use various instruments such as, but not restricted to, alaser gyroscope, a vibrating gyroscope, a hemispherical resonatorgyroscope, a fiber optic gyroscope and one or more accelerometers tomeasure the change in inertia. Therefore, the inertial navigation unit206 b facilitates independent navigation of the unmanned vehicle 102 incase of loss of satellite signal.

At step 410, the controller 212 calculates the difference between thecurrent position of the unmanned vehicle 102 and the planned position ofthe unmanned vehicle 102 based on planned path. Further the controller212 can be configured to compare the difference between the currentposition and the planned position with a threshold value. In someembodiments, the threshold value is based on various parameters such as,but not restricted to, position, distance and the like. Further, thecontroller 212 determines whether it has to modify the planned path orgenerate a new planned path in order to impede or avoid collisions, aswell as achieve the target based on the comparison between the thresholdvalue and the calculated difference.

At step 412, the controller 212 controls the movement of the unmannedvehicle 102 based on the comparison between the threshold value and thecalculated difference between the current position and the plannedposition. After step 412, the procedure 300 may return to step 404wherein the controller 212 may again check whether the satellitenavigation unit 206 a is receiving satellite signal.

In case the satellite navigation unit 206 a is receiving satellitesignal, the controller 212, at step 414, controls the unmanned vehicle102 based on the planned path data and the current position derived fromthe satellite navigation unit 206 a.

Next, at step 416, the controller 212 checks of the target or themission objective is achieved. If the target is not achieved, theprocedure 400 returns to step 402 and repeats all steps from 402 to 416.However, in case the target is achieved, the procedure 400 ends.

IV. Exemplary Embodiments

An exemplary operation of the system 500 will be now described withreference to FIGS. 5A and 5B. The unmanned vehicles 102 can be deployedfrom the base station 108 or any other suitable location. In someembodiments, the unmanned vehicles 102 can also be independentlydeployed from multiple locations. After deployment, the unmannedvehicles 102 may communicate with each other and autonomously form thesystem 500. In another embodiment, the base station 108 may transmitinformation to each of the unmanned vehicles 102 required to form thesystem 500. After the system 500 is formed, a central platform or aleader vehicle can be dynamically selected among the unmanned vehicles102. In the illustrated embodiment, the unmanned vehicle 102 a acts asthe central platform that communicates with the base station 108 onbehalf of the companion unmanned vehicles 102 b to 102 n, and controlsthe collective behavior of system 500 of unmanned vehicles 102. However,in alternative embodiments, each of the unmanned vehicles 102 canautonomously control its operations and cooperate with other unmannedvehicles 102 without any central platform.

In some embodiments, the unmanned vehicles 102 may form an autonomousvehicle swarm upon deployment. Further, the unmanned vehicles 102 mayautonomously arrange themselves into different types of formations forvarious purposes, including collision avoidance, energy conservation,safeguarding assets, ease of communication, tracking and analyses ofobjects, etc.

In an embodiment, the unmanned vehicles 102 can arrange themselves in anenergy efficient formation in order to conserve energy during flight. Inan exemplary scenario, an energy efficient formation is a V-formation inwhich the unmanned vehicles 102 form a substantially V-shapedarrangement. The unmanned vehicle 102 a acting as the central platformmay form the apex of the V-shape. The V-formation may reduce an induceddrag on the unmanned vehicles 102, thereby reducing energy consumption.A distance and/or angle between the unmanned vehicles may be dynamicallychanged based on ambient conditions to minimize energy consumption.Further, the unmanned vehicles 102 may periodically switch positionswithin the V-shape based on a remaining energy of each of the unmannedvehicles 102.

In another embodiment, the unmanned vehicles 102 can arrange themselvesin a defensive formation to safeguard one or more assets. The assets canbe an aircraft, a terrestrial vehicle, a ship, a stationary object(e.g., a communication tower or a building) etc.

FIG. 5A illustrates an exemplary scenario illustrating the system 500,wherein the unmanned vehicles 102 a to 102 n travels along respectiveplanned paths 502 a to 502 n in synchronization with satellitenavigation. The system 500 illustrates the planned paths 502 a to 502 nof the unmanned vehicles 102, hereinafter collectively referred to as aplanned path 502. The controller 212 of each of the unmanned vehicles102 combines satellite navigation data with planned path data toaccurately navigate the unmanned vehicles 102 along their planned path502. In an example, the controller 212 may compare the current positionderived from the satellite navigation unit 206 a with the planned pathdata in order to navigate the corresponding unmanned vehicle 102 alongits planned path 502.

The controller 212 can determine the planned position of the unmannedvehicle 102 based on the planned path 502 stored in the memory unit 204.Further, the controller controls the movement of the unmanned vehicle102 such that the unmanned vehicle 102 travels along the planned path502, while avoiding or impeding collisions among the unmanned vehicles102 and/or between the unmanned vehicles 102 and any obstacle. As shown,the planned paths 502 of the unmanned vehicles 102 are from a source toa destination.

FIG. 5B illustrates an exemplary scenario illustrating loss of satellitesignal at the unmanned vehicle 102 a. In FIG. 5B, the unmanned aerialvehicles 102 travels along the planned paths 502. The controller 212 ofthe unmanned aerial vehicles 102 a detects a loss of satellite signal.The controller 212 of the unmanned vehicle 102 a determines the currentposition of the unmanned vehicle 102 a based on the position dataprovided by the inertial navigation unit 206 b. The inertial navigationunit 206 b is configured to determine the current position of theunmanned vehicle 102 relative to an initial position P1′. The initialposition ‘P1’ may be the position at which satellite signal is lost.Further, the initial position P1′ may be stored within the memory unit204. Further, the controller 212 of the unmanned vehicle 102 determinesthe difference between the planned position and current position derivedfrom the inertial navigation unit 206 b. The controller 212 isconfigured to compare the measured difference with a threshold valuewhich is based on, but not restricted to, speed, distance, velocity,time and like. Further, based on the comparison between the thresholdvalue and the measured difference, the unmanned vehicle 102 determinesif it has to modify the planned path or generate a new planned path inorder to impede or avoid collisions, and achieve the target.

As illustrated in FIG. 5B, the unmanned vehicle 102 a may deviate fromthe planned path 502 a due to loss of satellite signal at the initialposition ‘P1’. The loss of satellite signal may be due to an object 506that hinders reception of satellite signal at the satellite navigationunit 206 a of the unmanned vehicle 102 a. The object 506 may be a tree,a mountain, a building, and the like. Alternatively, loss of satellitesignal may be due to any hardware and/or software faults, for example,malfunctioning of the receiver of the satellite navigation unit 206 a.

The unmanned vehicle 102 a travels along a path 504 a after loss ofsatellite signal. The controller 212 navigates the unmanned vehicle 102a along the path 504 a based on planned path data and positional dataobtained from the inertial navigation unit 206 b. However, due to errors(e.g., drift errors) inherent in inertial navigation, the path 504 a maydeviate from the planned path 502 a of the unmanned vehicle 102 a.

During travel along the path 504 a, the controller 212 of the unmannedvehicle 102 a may also receive current positions from each of thecompanion unmanned vehicles 102 b to 102 n, and correct a trajectory ofthe unmanned vehicle 102 a to at least reduce a deviation between thepath 504 a and the planned path 502 a. Further, the controller 212 mayalso communicate the current position of the unmanned vehicle 102 a tothe companion unmanned vehicles 102 b to 102 n so that they can actaccordingly in order to avoid or impede collisions.

After travelling on the path 504 a for a duration, the controller 212may detect satellite signal received at the satellite navigation unit206 a. This may be due an increased separation between the unmannedvehicle 102 a and the object 506. Upon receiving satellite position datafrom the satellite navigation unit 206 a, the controller 212 may modifythe path of the unmanned vehicle 102 a such that the unmanned vehicle102 a may move towards the planned path 502 a. However, in alternativescenarios, the controller 212 may re-calculate a new planned path (notshown) for the unmanned vehicle 102 a based on the deviation of theunmanned vehicle 102 a from the planned path 502 a.

As illustrated in FIG. 5B, the controller 212 may generate a path 508 ain order to move the unmanned vehicle 102 a to the planned path 502 a ata position ‘P2’. The path 508 a may be generated based on variousfactors, such as current positions of each of the unmanned vehicles 102a to 102 n, presence of any obstacles etc. Further, the controller 212may also communicate the path 508 a to the companion unmanned vehicles102 b to 102 n so that they may modify their paths accordingly to impedeor avoid any collisions.

Various operations of the system 500 including the unmanned vehicle 102a to 102 n, as described above, are for illustration purposes only, andthe various embodiments are intended to include or otherwise cover anyoperation of unmanned vehicles based on inertial navigation andsatellite navigation that may be beneficial.

V. Other Exemplary Embodiments

FIG. 6 illustrates a computer system 600 upon which an embodiment of theinvention may be implemented. The computer system 600 may be part of thecontroller 212, the control unit 210 and/or the controller of the basestation 108. In fact, the computer system 600 can be part of anycomponent of the unmanned vehicle 102. Although, the computer system 600is depicted with respect to a particular device or equipment, it iscontemplated that other devices or equipment (e.g., network elements,servers, etc.) within FIG. 6 can deploy the illustrated hardware andcomponents of the system 600. The computer system 600 is programmed(e.g., via computer program code or instructions) to control theunmanned vehicles 102 and includes a communication mechanism such as abus 602 for passing information between other internal and externalcomponents of the computer system 600. Information (also called data) isrepresented as a physical expression of a measurable phenomenon,typically electric voltages, but including, in other embodiments, suchphenomena as magnetic, electromagnetic, pressure, chemical, biological,molecular, atomic, sub-atomic and quantum interactions. For example,north and south magnetic fields, or a zero and non-zero electricvoltage, represent two states (0, 1) of a binary digit (bit). Otherphenomena can represent digits of a higher base. A superposition ofmultiple simultaneous quantum states before measurement represents aquantum bit (qubit). A sequence of one or more digits constitutesdigital data that is used to represent a number or code for a character.In some embodiments, information called analog data is represented by anear continuum of measurable values within a particular range. Thecomputer system 600, or a portion thereof, constitutes a means forperforming one or more steps for controlling the unmanned vehicle 102.

A bus 602 includes one or more parallel conductors of information sothat information is transferred quickly among devices coupled to the bus602. One or more processors 604 for processing information are coupledwith the bus 602.

The processor (or multiple processors) 604 performs a set of operationson information as specified by computer program code related to controlthe unmanned vehicle 102. The computer program code is a set ofinstructions or statements providing instructions for the operation ofthe processor 604 and/or the computer system 600 to perform specifiedfunctions. The code, for example, may be written in a computerprogramming language that is compiled into a native instruction set ofthe processor 604. The code may also be written directly using thenative instruction set (e.g., machine language). The set of operationsinclude bringing information in from the bus 602 and placing informationon the bus 602. The set of operations also typically include comparingtwo or more units of information, shifting positions of units ofinformation, and combining two or more units of information, such as byaddition or multiplication or logical operations like OR, exclusive OR(XOR), and AND. Each operation of the set of operations that can beperformed by the processor is represented to the processor byinformation called instructions, such as an operation code of one ormore digits. A sequence of operations to be executed by the processor604, such as a sequence of operation codes, constitute processorinstructions, also called computer system instructions or, simply,computer instructions. The processors 604 may be implemented asmechanical, electrical, magnetic, optical, chemical, or quantumcomponents, among others, alone or in combination.

The computer system 600 also includes a memory 606 coupled to the bus602. The memory 606, such as a Random Access Memory (RAM) or any otherdynamic storage device, stores information including processorinstructions for storing information and instructions to be executed bythe processor 604. The dynamic memory 606 allows information storedtherein to be changed by the computer system 600. RAM allows a unit ofinformation stored at a location called a memory address to be storedand retrieved independently of information at neighboring addresses. Thememory 606 is also used by the processor 604 to store temporary valuesduring execution of processor instructions. The computer system 600 alsoincludes a Read Only Memory (ROM) or any other static storage devicecoupled to the bus 602 for storing static information, includinginstructions, that is not changed by the computer system 600. Somememory is composed of volatile storage that loses the information storedthereon when power is lost. Also coupled to the bus 602 is anon-volatile (persistent) storage device 608, such as a magnetic disk, asolid state disk, optical disk or flash card, for storing information,including instructions, that persists even when the computer system 600is turned off or otherwise loses power.

Information, including instructions for controlling the unmanned vehicle102 is provided to the bus 602 for use by the processor 604 from anexternal input device 610, such as a keyboard containing alphanumerickeys operated by a human user, a microphone, an Infrared (IR) remotecontrol, a joystick, a game pad, a stylus pen, a touch screen, or asensor. The sensor detects conditions in its vicinity and transformsthose detections into physical expression compatible with the measurablephenomenon used to represent information in the computer system 600.Other external devices coupled to the bus 602, used primarily forinteracting with humans, include a display 612, such as a Cathode RayTube (CRT), a Liquid Crystal Display (LCD), a Light Emitting Diode (LED)display, an organic LED (OLED) display, active matrix display,Electrophoretic Display (EPD), a plasma screen, or a printer forpresenting text or images, and a pointing device 616, such as a mouse, atrackball, cursor direction keys, or a motion sensor, for controlling aposition of a small cursor image presented on the display 612 andissuing commands associated with graphical elements presented on thedisplay 612, and one or more camera sensors 614 for capturing, recordingand causing to store one or more still and/or moving images (e.g.,videos, movies, etc.) which also may comprise audio recordings. Further,the display 612 may be a touch enabled display such as capacitive orresistive screen. In some embodiments, for example, in embodiments inwhich the computer system 600 performs all functions automaticallywithout human input, one or more of the external input device 610, andthe display device 612 may be omitted.

In the illustrated embodiment, special purpose hardware, such as an ASIC616, is coupled to the bus 602. The special purpose hardware isconfigured to perform operations not performed by the processor 604quickly enough for special purposes. Examples of ASICs include graphicsaccelerator cards for generating images for the display 612,cryptographic boards for encrypting and decrypting messages sent over anetwork, speech recognition, and interfaces to special external devices,such as robotic arms and medical scanning equipment that repeatedlyperform some complex sequence of operations that are more efficientlyimplemented in hardware.

The computer system 600 also includes one or more instances of acommunication interface 618 coupled to the bus 602. The communicationinterface 618 provides a one-way or two-way communication coupling to avariety of external devices that operate with their own processors, suchas printers, scanners and external disks. In general, the coupling iswith a network link 620 that is connected to a local network 622 towhich a variety of external devices with their own processors areconnected. For example, the communication interface 618 may be aparallel port or a serial port or a Universal Serial Bus (USB) port on apersonal computer. In some embodiments, the communication interface 618is an Integrated Services Digital Network (ISDN) card, a DigitalSubscriber Line (DSL) card, or a telephone modem that provides aninformation communication connection to a corresponding type of atelephone line. In some embodiments, the communication interface 618 isa cable modem that converts signals on the bus 602 into signals for acommunication connection over a coaxial cable or into optical signalsfor a communication connection over a fiber optic cable. As anotherexample, the communications interface 618 may be a Local Area Network(LAN) card to provide a data communication connection to a compatibleLAN, such as Ethernet or an Asynchronous Transfer Mode (ATM) network. Inone embodiment, wireless links may also be implemented. For wirelesslinks, the communication interface 618 sends or receives or both sendsand receives electrical, acoustic or electromagnetic signals, includinginfrared and optical signals that carry information streams, such asdigital data. For example, in wireless handheld devices, such as mobiletelephones like cell phones, the communication interface 618 includes aradio band electromagnetic transmitter and receiver called a radiotransceiver. In certain embodiments, the communication interface 618enables connection to the communication network 106 controlling theunmanned vehicle 102. Further, the communication interface 618 caninclude peripheral interface devices, such as a thunderbolt interface, aPersonal Computer Memory Card International Association (PCMCIA)interface, etc. Although a single communication interface 618 isdepicted, multiple communication interfaces can also be employed.

The term “computer-readable medium” as used herein refers to any mediumthat participates in providing information to the processor 604,including instructions for execution. Such a medium may take many forms,including, but not limited to, computer-readable storage medium (e.g.,non-volatile media, volatile media), and transmission media.Non-transitory media, such as non-volatile media, include, for example,optical or magnetic disks, such as the storage device 608. Volatilemedia include, for example, the dynamic memory 606. Transmission mediainclude, for example, twisted pair cables, coaxial cables, copper wire,fiber optic cables, and carrier waves that travel through space withoutwires or cables, such as acoustic waves, optical or electromagneticwaves, including radio, optical and infrared waves. Signals includeman-made transient variations in amplitude, frequency, phase,polarization or other physical properties transmitted through thetransmission media. Common forms of computer-readable media include, forexample, a floppy disk, a flexible disk, hard disk, magnetic tape, anyother magnetic medium, a USB flash drive, a Blu-ray disk, a CD-ROM,CDRW, DVD, any other optical medium, punch cards, paper tape, opticalmark sheets, any other physical medium with patterns of holes or otheroptically recognizable indicia, a RAM, a PROM, an EPROM, a FLASH-EPROM,an EEPROM, a flash memory, any other memory chip or cartridge, a carrierwave, or any other medium from which a computer can read. The termcomputer-readable storage medium is used herein to refer to anycomputer-readable medium except transmission media.

Logic encoded in one or more tangible media includes one or both ofprocessor instructions on a computer-readable storage media and specialpurpose hardware, such as ASIC 616.

The network link 620 typically provides information communication usingtransmission media through one or more networks to other devices thatuse or process the information. For example, the network link 620 mayprovide a connection through the local network 622 to a host computer624 or to ISP equipment operated by an Internet Service Provider (ISP).

A computer called a server host 626, connected to the Internet, hosts aprocess that provides a service in response to information received overthe Internet. For example, the server hosts 626 hosts a process thatprovides information representing video data for presentation at thedisplay 612. It is contemplated that the components of the computersystem 600 can be deployed in various configurations within othercomputer systems, e.g., the host 624 and the server 626.

At least some embodiments of the invention are related to the use of thecomputer system 600 for implementing some or all of the techniquesdescribed herein. According to one embodiment of the invention, thosetechniques are performed by the computer system 600 in response to theprocessor 604 executing one or more sequences of one or more processorinstructions contained in the memory 606. Such instructions, also calledcomputer instructions, software and program code, may be read into thememory 606 from another computer-readable medium such as the storagedevice 608 or the network link 620. Execution of the sequences ofinstructions contained in the memory 606 causes the processor 604 toperform one or more of the method steps described herein. In alternativeembodiments, hardware, such as the ASIC 616, may be used in place of orin combination with software to implement the invention. Thus,embodiments of the invention are not limited to any specific combinationof hardware and software, unless otherwise explicitly stated herein.

Various forms of computer readable media may be involved in carrying oneor more sequence of instructions or data or both to the processor 604for execution. For example, instructions and data may initially becarried on a magnetic disk of a remote computer such as the host 624.The remote computer loads the instructions and data into its dynamicmemory and sends the instructions and data over a telephone line using amodem. A modem local to the computer system 600 receives theinstructions and data on a telephone line and uses an infra-redtransmitter to convert the instructions and data to a signal on aninfra-red carrier wave serving as the network link 620. An infrareddetector serving as the communication interface 618 receives theinstructions and data carried in the infrared signal and placesinformation representing the instructions and data onto the bus 602. Thebus 602 carries the information to the memory 606 from which theprocessor 604 retrieves and executes the instructions using some of thedata sent with the instructions. The instructions and data received inthe memory 606 may optionally be stored on the storage device 608,either before or after execution by the processor 604.

VI. Alternative Embodiments

While certain embodiments of the invention are described above, andFIGS. 1-6 disclose the best mode for practicing the various inventiveaspects, it should be understood that the invention can be embodied andconfigured in many different ways without departing from the spirit andscope of the invention.

For example, embodiments are disclosed above in the context of anunmanned vehicle. However, embodiments are intended to include orotherwise cover any type of unmanned vehicle or an optionally mannedvehicle, including, an unmanned or optionally manned aerial vehicle, anunmanned or optionally manned terrestrial vehicle (for example, a car),an unmanned or optionally manned aquatic vehicle, an unmanned oroptionally manned railed vehicles, an unmanned or optionally mannedspacecraft, a drone, a gyrocopter etc. In fact, embodiments are intendedto include or otherwise cover any configuration of an unmanned vehicleor an optionally manned vehicle.

Exemplary embodiments are also intended to cover any additional oralternative components of the unmanned vehicle disclosed above.Exemplary embodiments are further intended to cover omission of anycomponent of the unmanned vehicle disclosed above.

Embodiments are disclosed above in the context of controlling anunmanned vehicle or an optionally manned vehicle in order to impede oravoid collisions between the unmanned vehicle or the optionally mannedvehicle, and a companion vehicle.

Embodiments are disclosed above in the context of controlling anunmanned vehicle or an optionally manned vehicle in order to impede oravoid collisions between the unmanned vehicle or the optionally mannedvehicle, and an obstacle. Embodiments are intended to cover anyobstacle, such as, but not restricted to, trees, hills, mountains,buildings, towers, corals, waterbodies, sand banks, orbital debris andso forth. Embodiments are also intended to cover any movable obstacle,such as, but not restricted to, birds, aircraft, watercraft, spacecraft,terrestrial vehicles, and so forth.

Embodiments are disclosed above in the context of fleet of unmannedaerial vehicle. However, embodiments are intended to cover any unmannedvehicle such as unmanned aquatic vehicle, unmanned terrestrial vehicle,and so forth.

Embodiments are intended to cover fleets of unmanned vehicles, fleets ofoptionally manned vehicles, or fleets having both unmanned vehicles andoptionally manned vehicles.

Embodiments are disclosed above in the context of an onboard controller.However, embodiments are intended to cover any controller that isoperationally coupled to an unmanned vehicle.

Embodiments are disclosed above in the context of single controller tocontrol the movement of an unmanned vehicle. However, embodiments areintended to include or otherwise cover any number of controllersrequired to control the movement of the unmanned vehicle along a plannedpath.

Embodiments are disclosed above in the context of an inertial navigationsystem to navigate the unmanned vehicle. However, embodiments areintended to include or otherwise cover any navigation system, method ortechnique to navigate the unmanned vehicle.

Embodiments are disclosed above in the context of usage of an inertialnavigation system to navigate an unmanned vehicle in case of loss ofsatellite signal. However, embodiments are intended to include orotherwise cover any inertial navigation system, method or technique tonavigate the unmanned vehicle based on a change in its inertia.

Embodiments are disclosed above in the context of usage of an inertialnavigation system and current position data of companion unmannedvehicles to navigate an unmanned vehicle. However, embodiments areintended to include or otherwise cover combining any position data withinertial navigation to navigate the unmanned vehicle.

Embodiments are disclosed above in the context of usage of an inertialnavigation system to navigate an unmanned vehicle in order to impede oravoid collisions with companion unmanned vehicles and/or obstacles.However, embodiments are intended to include or otherwise coverachieving any mission objective by using inertial navigation.

Embodiments are disclosed above in the context of usage of an inertialnavigation system to navigate an unmanned vehicle along a planned path.However, embodiments are intended to include or otherwise covernavigating the unmanned vehicle along a dynamically generated path byusing inertial navigation.

Embodiments are intended to include or otherwise cover any method ortechnique to navigate the unmanned vehicle based on satellitenavigation, inertial navigation, or a combination thereof.

Embodiments are also intended to include or otherwise use satellitenavigation to accurately navigate the unmanned vehicle along a plannedpath.

Embodiments are also intended to include or otherwise use any type ofsensing device to detect an obstacle present in the operational path ofthe unmanned vehicle.

Exemplary embodiments are intended to include and/or otherwise cover anymode of communication among the unmanned vehicles and the unmannedvehicle and the base station.

Exemplary embodiments are also intended to include and/or otherwisecover a defensive formation of the unmanned vehicle swarm to safeguardone or more assets. The assets can be an aircraft, a terrestrialvehicle, a ship, a stationary object (e.g., a communication tower or abuilding) etc.

Exemplary embodiments are also intended to include and/or otherwise aV-formation of the unmanned vehicle swarm or a fleet of unmannedvehicles, which can cause each of the unmanned vehicles to be wellseparated. The separation of the unmanned vehicles can allow each of theunmanned vehicles to individually receive and mutually combine images ofthe objects. However, embodiments of the disclosed subject matter areintended to include or otherwise cover any type of formation that may bebeneficial.

Embodiments are also intended to include or otherwise cover methods ofmanufacturing the unmanned vehicle disclosed above. The methods ofmanufacturing include or otherwise cover processors and computerprograms implemented by processors used to design various elements ofthe unmanned vehicle disclosed above.

Exemplary embodiments are intended to cover all software or computerprograms capable of enabling processors to implement the aboveoperations, designs and determinations. Exemplary embodiments are alsointended to cover any and all currently known, related art or laterdeveloped non-transitory recording or storage mediums (such as a CD-ROM,DVD-ROM, hard drive, RAM, ROM, floppy disc, magnetic tape cassette,etc.) that record or store such software or computer programs. Exemplaryembodiments are further intended to cover such software, computerprograms, systems and/or processes provided through any other currentlyknown, related art, or later developed medium (such as transitorymediums, carrier waves, etc.), usable for implementing the exemplaryoperations of airbag housing assemblies disclosed above.

While the subject matter has been described in detail with reference toexemplary embodiments thereof, it will be apparent to one skilled in theart that various changes can be made, and equivalents employed, withoutdeparting from the scope of the invention. All related art referencesdiscussed in the above Background section are hereby incorporated byreference in their entirety.

1. A method of controlling an unmanned vehicle having a satellitenavigation unit and an inertial navigation unit, the unmanned vehicleoperatively coupled to a controller, the method comprising: controlling,by the controller, a movement of the unmanned vehicle such that theunmanned vehicle moves along a planned path; detecting, by thecontroller, a loss of a satellite signal at the satellite navigationunit; determining, by the controller, a planned position of the unmannedvehicle based on the planned path; determining, by the inertialnavigation unit, a current position of the unmanned vehicle; comparing,by the controller, the current position determined by the inertialnavigation unit with the planned position based on the planned path; andcontrolling, by the controller, a movement of the unmanned vehicle basedon at least the comparison between the current position and the plannedposition.
 2. The method of claim 1, wherein the planned path comprises aspeed profile of the path, an altitude profile of the path and ahorizontal profile of the path.
 3. The method of claim 1, furthercomprising: determining, by the controller, a difference between theplanned position based on the planned path and the current positiondetermined by the inertial navigation unit; determining, by thecontroller, a current trajectory of the unmanned vehicle based on thecurrent position; and controlling, by the controller, the movement ofthe unmanned vehicle to at least reduce a difference between thetrajectory of the unmanned vehicle and the planned path.
 4. The methodof claim 1, further comprising: receiving, by the satellite navigationunit, a satellite signal indicative of the current positon of theunmanned vehicle; and controlling the movement of the unmanned vehiclebased on at least the planned path and the satellite signal received bythe satellite navigation unit.
 5. The method of claim 1, furthercomprising: receiving, at the unmanned vehicle, a current position of acompanion unmanned vehicle; estimating, by the controller, a potentialcollision between the unmanned vehicle and the companion unmannedvehicle based on the current position of each of the unmanned vehicleand the companion unmanned vehicle; and controlling, by the controller,the movement of the unmanned vehicle to impede the potential collisionbetween the unmanned vehicle and the companion unmanned vehicle.
 6. Anunmanned vehicle, comprising: a satellite navigation unit configured forreceiving a satellite signal indicative of a current position of theunmanned vehicle; an inertial navigation unit configured for determiningthe current position of the unmanned vehicle relative to an initialposition; a memory unit configured for storing a planned path of theunmanned vehicle; a control unit disposed in communication with thesatellite navigation unit, the inertial navigation unit and the memoryunit, the control unit including a position unit and configured to:detect a loss of satellite signal at the satellite navigation unit,receive the current position of the unmanned vehicle from the inertialnavigation unit, determine a planned position of the unmanned vehiclebased on the planned path, compare the current position determined bythe inertial navigation unit with the planned position based on theplanned path, and control the movement of the unmanned vehicle based onat least the comparison between the current position and the plannedposition; a communication unit configured for receiving a second currentposition of a companion unmanned vehicle sent by the companion unmannedvehicle through at least one of satellite link and a base controlstation, wherein: the control unit is further configured to control themovement of the unmanned vehicle further based on the second currentposition of the companion unmanned vehicle, the control unit is furtherconfigured to estimate a potential collision between the unmannedvehicle and the companion unmanned vehicle based on the current positionof the unmanned vehicle and the second current position of the companionunmanned vehicle, the control unit is configured to control the movementof the unmanned vehicle to impede the potential collision between theunmanned vehicle and the companion unmanned vehicle, and the unmannedvehicle is configured to transmit its said current position and theplanned path to the companion unmanned vehicle so that the companionunmanned vehicle is configured through a second control unit todetermine a need to modify its own second path as well.
 7. The unmannedvehicle of claim 6, wherein the inertial navigation unit comprises atleast one of a ring laser gyroscope, a vibrating gyroscope, ahemispherical resonator gyroscope, a fiber optic gyroscope and anaccelerometer.
 8. The unmanned vehicle of claim 6, wherein the satellitenavigation unit is a Global Position System (GPS) unit.
 9. The unmannedvehicle of claim 6, further comprising a detection unit that isconfigured to detect an obstacle in a path of the unmanned vehicle,wherein the detection unit includes at least one of a sensor and animaging unit.
 10. The unmanned vehicle of claim 6, wherein the plannedpath includes a speed profile of the path, an altitude profile of thepath and a horizontal profile of the path.
 11. (canceled)
 12. (canceled)13. The unmanned vehicle of claim 6, wherein the control unit is furtherconfigured to: determine a difference between the planned position basedon the planned path and the current position determined by the inertialnavigation unit; determine a current trajectory of the unmanned vehiclebased on the current position; and control the movement of the unmannedvehicle to at least reduce a difference between the trajectory of theunmanned vehicle and the planned path.
 14. The unmanned vehicle of claim6, wherein the control unit is further configured to: detect a satellitesignal received by the satellite navigation unit; and control themovement of the unmanned vehicle based on at least the planned path andthe satellite signal received by the satellite navigation unit.
 15. Asystem comprising a plurality of unmanned vehicles, each of theplurality of unmanned vehicles including: a satellite navigation unitthat is configured to receive a satellite signal indicative of a currentposition of the unmanned vehicle; an inertial navigation unit that isconfigured to determine the current position of the unmanned vehiclerelative to an initial position; a memory unit that is configured tostore a planned path of the unmanned vehicle; a communication unitdisposed in communication with other unmanned vehicles, thecommunication unit configured to receive a current position of each ofthe other unmanned vehicles; and a control unit disposed incommunication with the satellite navigation unit, the inertialnavigation unit, the memory unit and the communication unit, the controlunit configured to: detect a loss of satellite signal at the satellitenavigation unit; receive the current position of the unmanned vehiclefrom the inertial navigation unit; determine a planned position of theunmanned vehicle based on the planned path; receive the current positionof each of the other unmanned vehicles from the communication unit; andcontrol the movement of the unmanned vehicle based on at least thecurrent position determined by the inertial navigation unit, the plannedposition based on the planned path, and the current position of each ofthe other unmanned vehicles.
 16. The system of claim 15, furthercomprising a base station disposed in communication with the pluralityof unmanned vehicles, the base station configured to generate theplanned path for each of the plurality of unmanned vehicles and transmitthe planned paths to corresponding unmanned vehicles.
 17. The system ofclaim 15, wherein the inertial navigation unit comprises at least one ofa ring laser gyroscope, a vibrating gyroscope, a hemispherical resonatorgyroscope, a fiber optic gyroscope and an accelerometer.
 18. The systemof claim 15, wherein the satellite navigation unit is a Global PositionSystem (GPS) unit.
 19. The system of claim 15, further comprising adetection unit that is configured to detect an obstacle in a path of theunmanned vehicle.
 20. The system of claim 15, wherein the control unitis further configured to: estimate one or more potential collisionsbetween the unmanned vehicle and the other unmanned vehicles based onthe current position of each of the plurality of unmanned vehicles; andcontrol the movement of the unmanned vehicle to impede the one or morepotential collisions between the unmanned vehicle and the other unmannedvehicles.
 21. The unmanned vehicle of claim 6, wherein the control unitis configured to control, remotely, movements of the companion unmannedvehicle based on its position relative to the unmanned vehicle, itself.22. The unmanned vehicle of claim 6, wherein the control unit isconfigured to control the movement of both the unmanned vehicle itselfand the companion unmanned vehicle based on a real-time dynamic path.